Glider dive log

DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 26 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HD_B 0.0115 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 20

MISSION 21 HD_C 1.7999999e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

DIVE 26 HEADING -1 ROLL_MIN 294 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 0 ESCAPE_HEADING 100 ROLL_MAX 3598 ALTIM_TOP_MIN_OBSTACLE 2.8

D_SURF 4 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 300

D_FLARE 3 FIX_MISSING_TIMEOUT 5 C_ROLL_DIVE 2100 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LAT 6000 C_ROLL_CLIMB 1900 ALTIM_FREQUENCY 13

D_ABORT 1030 TGT_DEFAULT_LON -5500 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_BOOST 20 SM_CC 400 ROLL_TIMEOUT 15 XPDR_VALID 5

T_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 48 XPDR_INHIBIT 90

D_FINISH 9 FILEMGR 2 R_STBD_OVSHOOT 39 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 1.75 CALL_NDIVES 1 ROLL_AD_RATE 300 INT_PRESSURE_YINT 0

D_SAFE 500 COMM_SEQ 0 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_CALL 3 PROTOCOL 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 10 N_NOCOMM 6 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 161 VBD_MIN 448 DEVICE1 2

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 VBD_MAX 4001 DEVICE2 20

T_DIVE 360 UPLOAD_DIVES_MAX 5 C_VBD 3029 DEVICE3 -1

T_MISSION 440 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -3 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 2 T_GPS_CHARGE -191124.16 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 10 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

D_OFFGRID 250 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 64

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 350 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3700 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3130 PHONE_SUPPLY -1 SEABIRD_T_G 0.0044220644

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -22.860044 SEABIRD_T_H 0.00065538363

RHO 1.023 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_I 2.8550956e-05

MASS 51396 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 3.214675e-06

NAV_MODE 2 PITCH_GAIN 30 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.084064

FERRY_MAX 45 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1288997

KALMAN_USE 2 PITCH_AD_RATE 150 COMPASS_USE 4 SEABIRD_C_I -0.0014441535

HD_A 0.00275 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017831143

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 100 D_OFFGRID 250 PHONE_DEVICE 48 SIM_W 0

AH0_24V 150 D_PITCH 1.75 PHONE_SUPPLY -1 SM_CC 400

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 4 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 100 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_GAIN 30 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAX 3700 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2.8 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_MIN 350 TGT_DEFAULT_LAT 6000

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -5500

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001161151 T_BOOST 0

CALL_TRIES 3 HD_A 0.00275 PRESSURE_YINT -22.860044 T_DIVE 360

CALL_WAIT 60 HD_B 0.0115 PROTOCOL 0 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 1.7999999e-06 P_OVSHOOT 0.039999999 T_GPS 3

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_DEVICE 64 T_GPS_CHARGE -191124.16

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1.5 T_MISSION 440

COMPASS_DEVICE 97 ID 108 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.023 T_RSLEEP 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_DBAND 0.029999999 T_TURN 225

C_PITCH 3130 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 1900 LOGGERDEVICE1 -1 ROLL_AD_RATE 300 T_WATCHDOG 10

C_ROLL_DIVE 2100 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 3029 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX 5

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3598 USE_BATHY -3

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 0 USE_ICE 2

DEVICE1 2 MASS 51396 ROLL_MIN 294 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 48 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 39 VBD_MAX 4001

DEVICE5 -1 MISSION 21 SEABIRD_C_G -10.084064 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1288997 VBD_MIN 448

DIVE 26 NAV_MODE 2 SEABIRD_C_I -0.0014441535 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1030 NOCOMM_ACTION 161 SEABIRD_C_J 0.00017831143 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 20 N_DIVES 0 SEABIRD_T_G 0.0044220644 VBD_TIMEOUT 720

D_CALL 3 N_FILEKB 4 SEABIRD_T_H 0.00065538363 XPDR_DEVICE 24

D_FINISH 9 N_GPS 20 SEABIRD_T_I 2.8550956e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 6 SEABIRD_T_J 3.214675e-06 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 230612,065236,6702.582,-5721.039,16,0.8,17,-33.6 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 3.25 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230612,065236,6702.582,-5721.039,16,0.8,17,-33.6 MHEAD_RNG_PITCHd_Wd 334.3,139618,-26.4,-9.167

SPEED_LIMITS 0.159,0.240 D_GRID 792

Post-dive calculations and measurements:

FREEZE 1.66,-0.831,-1.728,1,2,0 ALTIM_TOP_PING 19.8,18.6

FINISH 1.7,1.025374 _24V_AH 23.3,6.533

SM_CCo 9875,108.95,0.071,0,0,1397,400.08 _10V_AH 10.3,7.738

SM_GC 3.02,8.65,2.55,108.95,0.076,0.044,0.071,340,2111,1397,-8.66,-1.07,400.08,0,0,1,0,0,0,26.58,26.61,26.40 FG_AHR_24Vo 0.000

RAFOS_CLK 544 FG_AHR_10Vo 0.000

RAFOS 0,1340452868,12.033333,12.018888,57,55,53,43,42,41,1798,1741,1757,1895,912,617 MEM 151700

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 43444,929

IRIDIUM_FIX 6631.12,-5721.18,230612,020210 CAP_FILE_SIZE 109825,0

TT8_MAMPS 0.026215,0.026215 CFSIZE 260165632,243761152

HUMID 37.71 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0

INTERNAL_PRESSURE 8.97495 SOUNDSPEED 1461.3

TCM_TEMP 16.10 CURRENT 0.167,324.8,1

XPDR_PINGS 0 GPS 230612,065236,6702.582,-5721.039,16,0.8,17,-33.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 250 119.63 SBE_CT 654 23 365.28

Roll_motor 96 62 141.74 SBE_O2 692 5 96.65

VBD_pump_during_apogee 250 1331 7776.92 nil 0 0 0.00

VBD_pump_during_surface 108 71 180.60 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 26.91 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 2449 17 453.17

LPSleep 4983 2 118.58

TT8_Active 520 17 96.29

TT8_Sampling 1876 40 781.29

TT8_CF8 220 48 110.60

TT8_Kalman 0 0 0.00

Analog_circuits 1512 12 186.99

GPS_charging 0 0 0.00

Compass 1851 7 142.87

RAFOS 2520 3 77.87

Transponder 22 30 6.91

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.96 -62.9 0.0 0.0 0 25 0.00 0.00 -6.32 0.000 2 0.000 0.000 341 2102 1556 0 0 0 0 0 0 28.83 28.83 28.83

28 -1.06 -146.6 3.3 0.0 1 130 9.52 0.00 -84.32 0.000 6 0.250 0.000 2785 2102 3629 0 0 0 0 0 0 26.08 28.83 26.62

437 -1.06 -146.6 67.9 -17.9 78 444 0.00 2.20 0.00 0.000 4 0.000 0.062 2777 3515 3632 0 0 0 0 0 0 28.83 26.39 28.83

644 -1.06 -146.6 107.4 -19.0 115 653 0.00 2.17 0.00 0.000 6 0.000 0.045 2784 2092 3632 0 0 0 0 0 0 28.83 26.46 28.83

955 -1.06 -146.6 160.7 -15.7 146 964 0.00 2.20 0.00 0.000 4 0.000 0.060 2775 3509 3632 0 0 0 0 0 0 28.83 26.47 28.83

1190 -1.06 -146.6 198.5 -16.1 169 1198 0.00 2.15 0.00 0.000 6 0.000 0.045 2781 2096 3631 0 0 0 0 0 0 28.83 26.54 28.83

1497 -1.06 -146.6 244.6 -14.3 200 1506 0.00 2.20 0.00 0.000 4 0.000 0.060 2773 3512 3631 0 0 0 0 0 0 28.83 26.53 28.83

1683 -1.06 -146.6 274.5 -17.0 218 1689 0.00 2.15 0.00 0.000 6 0.000 0.044 2779 2098 3631 0 0 0 0 0 0 28.83 26.58 28.83

1990 -1.06 -146.6 321.3 -14.4 249 2000 0.00 2.20 0.00 0.000 4 0.000 0.060 2771 3517 3631 0 0 0 0 0 0 28.83 26.56 28.83

2127 -1.06 -146.6 341.8 -15.3 262 2134 0.00 2.15 0.00 0.000 6 0.000 0.044 2776 2095 3632 0 0 0 0 0 0 28.83 26.61 28.83

2433 -1.06 -146.6 386.4 -14.3 293 2442 0.00 2.20 0.00 0.000 4 0.000 0.059 2768 3505 3632 0 0 0 0 0 0 28.83 26.60 28.83

2601 -1.06 -146.6 411.6 -15.1 309 2609 0.00 2.12 0.00 0.000 6 0.000 0.043 2770 2095 3633 0 0 0 0 0 0 28.83 26.64 28.83

2908 -1.06 -146.6 457.3 -15.0 340 2917 0.00 2.20 0.00 0.000 4 0.000 0.058 2761 3507 3633 0 0 0 0 0 0 28.83 26.62 28.83

3063 -1.06 -146.6 481.0 -15.7 355 3072 0.00 2.10 0.00 0.000 6 0.000 0.042 2765 2098 3634 0 0 0 0 0 0 28.83 26.67 28.83

3371 -1.06 -146.6 525.3 -14.3 386 3379 0.00 2.17 0.00 0.000 4 0.000 0.058 2757 3503 3635 0 0 0 0 0 0 28.83 26.64 28.83

3502 -1.06 -146.6 545.9 -15.7 399 3512 0.08 2.10 0.00 0.000 6 0.174 0.042 2781 2087 3635 0 0 0 0 0 0 26.52 26.68 28.83

3813 -1.06 -146.6 587.4 -13.4 430 3821 0.00 2.17 0.00 0.000 4 0.000 0.058 2773 3514 3636 0 0 0 0 0 0 28.83 26.65 28.83

3928 -1.06 -146.6 600.1 -13.9 439 3934 0.00 2.12 0.00 0.000 6 0.000 0.042 2780 2096 3636 0 0 0 0 0 0 28.83 26.70 28.83

4235 -1.06 -146.6 643.7 -13.1 450 4241 0.00 2.17 0.00 0.000 4 0.000 0.058 2772 3507 3636 0 0 0 0 0 0 28.83 26.67 28.83

4365 -1.06 -146.6 660.8 -14.1 454 4370 0.00 2.12 0.00 0.000 6 0.000 0.042 2774 2092 3636 0 0 0 0 0 0 28.83 26.71 28.83

4685 -1.06 -146.6 705.5 -13.6 465 4689 0.00 2.17 0.00 0.000 4 0.000 0.058 2765 3507 3637 0 0 0 0 0 0 28.83 26.67 28.83

4796 -1.06 -146.6 719.3 -14.7 468 4800 0.00 2.12 0.00 0.000 6 0.000 0.043 2768 2092 3637 0 0 0 0 0 0 28.83 26.72 28.83

5102 -1.06 -146.6 765.1 -14.1 478 5107 0.00 2.15 0.00 0.000 4 0.000 0.058 2760 3500 3637 0 0 0 0 0 0 28.83 26.69 28.83

5237 -1.06 -146.6 783.8 -15.3 482 5241 0.00 2.12 0.00 0.000 6 0.000 0.042 2761 2092 3637 0 0 0 0 0 0 28.83 26.72 28.83

5277 end dive: TARGET_DEPTH_EXCEEDED

state 5277 begin apogee

5284 -0.17 0.0 792.0 -15.2 484 5412 0.98 0.00 122.93 1.331 6 0.160 0.000 3069 1873 3029 0 0 0 0 0 0 26.55 28.83 23.67

5415 end apogee: CONTROL_FINISHED_OK

state 5416 begin climb

5418 1.06 146.6 795.5 0.0 488 5558 1.17 2.42 127.82 1.317 4 0.073 0.049 3484 511 2431 0 0 0 0 0 0 24.70 24.24 23.34

5700 1.06 146.6 753.8 19.1 498 5705 0.00 2.33 0.00 0.000 6 0.000 0.045 3478 1905 2424 0 0 0 0 0 0 28.83 25.24 28.83

6023 1.06 146.6 692.7 18.5 509 6029 0.00 2.28 0.00 0.000 4 0.000 0.050 3485 513 2420 0 0 0 0 0 0 28.83 25.75 28.83

6145 1.06 146.6 669.8 19.2 513 6151 0.00 2.25 0.00 0.000 6 0.000 0.046 3478 1907 2419 0 0 0 0 0 0 28.83 25.86 28.83

6474 1.06 146.6 606.4 19.3 524 6480 0.00 2.28 0.00 0.000 4 0.000 0.050 3485 508 2418 0 0 0 0 0 0 28.83 26.06 28.83

6586 1.06 146.6 584.4 20.3 531 6595 0.00 2.22 0.00 0.000 6 0.000 0.046 3478 1906 2418 0 0 0 0 0 0 28.83 26.13 28.83

6895 1.06 146.6 525.1 18.9 562 6899 0.00 2.25 0.00 0.000 4 0.000 0.050 3485 518 2418 0 0 0 0 0 0 28.83 26.22 28.83

6997 1.06 146.6 505.6 19.8 572 7006 0.00 2.20 0.00 0.000 6 0.000 0.046 3478 1901 2418 0 0 0 0 0 0 28.83 26.27 28.83

7307 1.06 146.6 446.2 18.5 603 7316 0.00 2.17 0.00 0.000 4 0.000 0.050 3486 516 2417 0 0 0 0 0 0 28.83 26.33 28.83

7439 1.06 146.6 420.9 19.4 616 7448 0.00 2.20 0.00 0.000 6 0.000 0.045 3485 1902 2417 0 0 0 0 0 0 28.83 26.37 28.83

7749 1.06 146.6 358.4 20.8 647 7758 0.00 2.22 0.00 0.000 4 0.000 0.050 3493 514 2417 0 0 0 0 0 0 28.83 26.41 28.83

7822 1.06 146.6 343.2 21.3 654 7826 0.00 2.17 0.00 0.000 6 0.000 0.045 3492 1904 2417 0 0 0 0 0 0 28.83 26.44 28.83

8134 1.06 146.6 278.0 20.7 685 8143 0.00 2.20 0.00 0.000 4 0.000 0.050 3500 513 2417 0 0 0 0 0 0 28.83 26.46 28.83

8281 1.06 146.6 248.2 21.1 699 8288 0.00 2.20 0.00 0.000 6 0.000 0.044 3492 1908 2417 0 0 0 0 0 0 28.83 26.49 28.83

8587 1.06 146.6 187.3 18.8 730 8595 0.00 2.17 0.00 0.000 4 0.000 0.050 3499 520 2417 0 0 0 0 0 0 28.83 26.51 28.83

8662 1.06 146.6 173.6 19.4 737 8669 0.00 2.17 0.00 0.000 6 0.000 0.044 3492 1902 2417 0 0 0 0 0 0 28.83 26.53 28.83

8968 1.06 146.6 117.8 16.8 768 8977 0.00 2.20 0.00 0.000 4 0.000 0.049 3500 504 2417 0 0 0 0 0 0 28.83 26.54 28.83

9033 1.06 146.6 107.6 16.7 774 9040 0.00 2.20 0.00 0.000 6 0.000 0.044 3497 1904 2417 0 0 0 0 0 0 28.83 26.56 28.83

9341 1.06 146.6 60.1 14.3 831 9348 0.00 2.17 0.00 0.000 4 0.000 0.056 3497 3314 2417 0 0 0 0 0 0 28.83 26.56 28.83

9385 1.06 146.6 53.2 15.5 839 9393 0.12 2.10 0.00 0.000 6 0.211 0.043 3477 1916 2417 0 0 0 0 0 0 26.42 26.58 28.83

9700 1.06 146.6 13.4 9.7 900 9707 0.00 2.22 0.00 0.000 4 0.000 0.050 3486 492 2417 0 0 0 0 0 0 28.83 26.59 28.83

9805 end climb: SURFACE_DEPTH_REACHED

state 9805 begin surface coast

9853 end surface coast: CONTROL_FINISHED_OK

state 9853 begin surface

ID	108	HD_B	0.0115	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	20
MISSION	21	HD_C	1.7999999e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15
DIVE	26	HEADING	-1	ROLL_MIN	294	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	0	ESCAPE_HEADING	100	ROLL_MAX	3598	ALTIM_TOP_MIN_OBSTACLE	2.8
D_SURF	4	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	300
D_FLARE	3	FIX_MISSING_TIMEOUT	5	C_ROLL_DIVE	2100	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LAT	6000	C_ROLL_CLIMB	1900	ALTIM_FREQUENCY	13
D_ABORT	1030	TGT_DEFAULT_LON	-5500	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_BOOST	20	SM_CC	400	ROLL_TIMEOUT	15	XPDR_VALID	5
T_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	48	XPDR_INHIBIT	90
D_FINISH	9	FILEMGR	2	R_STBD_OVSHOOT	39	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	1.75	CALL_NDIVES	1	ROLL_AD_RATE	300	INT_PRESSURE_YINT	0
D_SAFE	500	COMM_SEQ	0	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_CALL	3	PROTOCOL	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	10	N_NOCOMM	6	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	161	VBD_MIN	448	DEVICE1	2
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	VBD_MAX	4001	DEVICE2	20
T_DIVE	360	UPLOAD_DIVES_MAX	5	C_VBD	3029	DEVICE3	-1
T_MISSION	440	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	2	T_GPS_CHARGE	-191124.16	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	10	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
D_OFFGRID	250	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	64
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	350	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3700	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3130	PHONE_SUPPLY	-1	SEABIRD_T_G	0.0044220644
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-22.860044	SEABIRD_T_H	0.00065538363
RHO	1.023	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_I	2.8550956e-05
MASS	51396	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	3.214675e-06
NAV_MODE	2	PITCH_GAIN	30	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.084064
FERRY_MAX	45	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1288997
KALMAN_USE	2	PITCH_AD_RATE	150	COMPASS_USE	4	SEABIRD_C_I	-0.0014441535
HD_A	0.00275	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017831143

GPS1	230612,065236,6702.582,-5721.039,16,0.8,17,-33.6	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	3.25	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230612,065236,6702.582,-5721.039,16,0.8,17,-33.6	MHEAD_RNG_PITCHd_Wd	334.3,139618,-26.4,-9.167
SPEED_LIMITS	0.159,0.240	D_GRID	792

FREEZE	1.66,-0.831,-1.728,1,2,0	ALTIM_TOP_PING	19.8,18.6
FINISH	1.7,1.025374	_24V_AH	23.3,6.533
SM_CCo	9875,108.95,0.071,0,0,1397,400.08	_10V_AH	10.3,7.738
SM_GC	3.02,8.65,2.55,108.95,0.076,0.044,0.071,340,2111,1397,-8.66,-1.07,400.08,0,0,1,0,0,0,26.58,26.61,26.40	FG_AHR_24Vo	0.000
RAFOS_CLK	544	FG_AHR_10Vo	0.000
RAFOS	0,1340452868,12.033333,12.018888,57,55,53,43,42,41,1798,1741,1757,1895,912,617	MEM	151700
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	43444,929
IRIDIUM_FIX	6631.12,-5721.18,230612,020210	CAP_FILE_SIZE	109825,0
TT8_MAMPS	0.026215,0.026215	CFSIZE	260165632,243761152
HUMID	37.71	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
INTERNAL_PRESSURE	8.97495	SOUNDSPEED	1461.3
TCM_TEMP	16.10	CURRENT	0.167,324.8,1
XPDR_PINGS	0	GPS	230612,065236,6702.582,-5721.039,16,0.8,17,-33.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	250	119.63	SBE_CT	654	23	365.28
Roll_motor	96	62	141.74	SBE_O2	692	5	96.65
VBD_pump_during_apogee	250	1331	7776.92	nil	0	0	0.00
VBD_pump_during_surface	108	71	180.60	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	26.91	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	2449	17	453.17
LPSleep	4983	2	118.58
TT8_Active	520	17	96.29
TT8_Sampling	1876	40	781.29
TT8_CF8	220	48	110.60
TT8_Kalman	0	0	0.00
Analog_circuits	1512	12	186.99
GPS_charging	0	0	0.00
Compass	1851	7	142.87
RAFOS	2520	3	77.87
Transponder	22	30	6.91

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.96	-62.9	0.0	0.0	0	25	0.00	0.00	-6.32	0.000	2	0.000	0.000	341	2102	1556	0	0	0	0	0	0	28.83	28.83	28.83
28	-1.06	-146.6	3.3	0.0	1	130	9.52	0.00	-84.32	0.000	6	0.250	0.000	2785	2102	3629	0	0	0	0	0	0	26.08	28.83	26.62
437	-1.06	-146.6	67.9	-17.9	78	444	0.00	2.20	0.00	0.000	4	0.000	0.062	2777	3515	3632	0	0	0	0	0	0	28.83	26.39	28.83
644	-1.06	-146.6	107.4	-19.0	115	653	0.00	2.17	0.00	0.000	6	0.000	0.045	2784	2092	3632	0	0	0	0	0	0	28.83	26.46	28.83
955	-1.06	-146.6	160.7	-15.7	146	964	0.00	2.20	0.00	0.000	4	0.000	0.060	2775	3509	3632	0	0	0	0	0	0	28.83	26.47	28.83
1190	-1.06	-146.6	198.5	-16.1	169	1198	0.00	2.15	0.00	0.000	6	0.000	0.045	2781	2096	3631	0	0	0	0	0	0	28.83	26.54	28.83
1497	-1.06	-146.6	244.6	-14.3	200	1506	0.00	2.20	0.00	0.000	4	0.000	0.060	2773	3512	3631	0	0	0	0	0	0	28.83	26.53	28.83
1683	-1.06	-146.6	274.5	-17.0	218	1689	0.00	2.15	0.00	0.000	6	0.000	0.044	2779	2098	3631	0	0	0	0	0	0	28.83	26.58	28.83
1990	-1.06	-146.6	321.3	-14.4	249	2000	0.00	2.20	0.00	0.000	4	0.000	0.060	2771	3517	3631	0	0	0	0	0	0	28.83	26.56	28.83
2127	-1.06	-146.6	341.8	-15.3	262	2134	0.00	2.15	0.00	0.000	6	0.000	0.044	2776	2095	3632	0	0	0	0	0	0	28.83	26.61	28.83
2433	-1.06	-146.6	386.4	-14.3	293	2442	0.00	2.20	0.00	0.000	4	0.000	0.059	2768	3505	3632	0	0	0	0	0	0	28.83	26.60	28.83
2601	-1.06	-146.6	411.6	-15.1	309	2609	0.00	2.12	0.00	0.000	6	0.000	0.043	2770	2095	3633	0	0	0	0	0	0	28.83	26.64	28.83
2908	-1.06	-146.6	457.3	-15.0	340	2917	0.00	2.20	0.00	0.000	4	0.000	0.058	2761	3507	3633	0	0	0	0	0	0	28.83	26.62	28.83
3063	-1.06	-146.6	481.0	-15.7	355	3072	0.00	2.10	0.00	0.000	6	0.000	0.042	2765	2098	3634	0	0	0	0	0	0	28.83	26.67	28.83
3371	-1.06	-146.6	525.3	-14.3	386	3379	0.00	2.17	0.00	0.000	4	0.000	0.058	2757	3503	3635	0	0	0	0	0	0	28.83	26.64	28.83
3502	-1.06	-146.6	545.9	-15.7	399	3512	0.08	2.10	0.00	0.000	6	0.174	0.042	2781	2087	3635	0	0	0	0	0	0	26.52	26.68	28.83
3813	-1.06	-146.6	587.4	-13.4	430	3821	0.00	2.17	0.00	0.000	4	0.000	0.058	2773	3514	3636	0	0	0	0	0	0	28.83	26.65	28.83
3928	-1.06	-146.6	600.1	-13.9	439	3934	0.00	2.12	0.00	0.000	6	0.000	0.042	2780	2096	3636	0	0	0	0	0	0	28.83	26.70	28.83
4235	-1.06	-146.6	643.7	-13.1	450	4241	0.00	2.17	0.00	0.000	4	0.000	0.058	2772	3507	3636	0	0	0	0	0	0	28.83	26.67	28.83
4365	-1.06	-146.6	660.8	-14.1	454	4370	0.00	2.12	0.00	0.000	6	0.000	0.042	2774	2092	3636	0	0	0	0	0	0	28.83	26.71	28.83
4685	-1.06	-146.6	705.5	-13.6	465	4689	0.00	2.17	0.00	0.000	4	0.000	0.058	2765	3507	3637	0	0	0	0	0	0	28.83	26.67	28.83
4796	-1.06	-146.6	719.3	-14.7	468	4800	0.00	2.12	0.00	0.000	6	0.000	0.043	2768	2092	3637	0	0	0	0	0	0	28.83	26.72	28.83
5102	-1.06	-146.6	765.1	-14.1	478	5107	0.00	2.15	0.00	0.000	4	0.000	0.058	2760	3500	3637	0	0	0	0	0	0	28.83	26.69	28.83
5237	-1.06	-146.6	783.8	-15.3	482	5241	0.00	2.12	0.00	0.000	6	0.000	0.042	2761	2092	3637	0	0	0	0	0	0	28.83	26.72	28.83
5277	end dive: TARGET_DEPTH_EXCEEDED
state	5277	begin apogee
5284	-0.17	0.0	792.0	-15.2	484	5412	0.98	0.00	122.93	1.331	6	0.160	0.000	3069	1873	3029	0	0	0	0	0	0	26.55	28.83	23.67
5415	end apogee: CONTROL_FINISHED_OK
state	5416	begin climb
5418	1.06	146.6	795.5	0.0	488	5558	1.17	2.42	127.82	1.317	4	0.073	0.049	3484	511	2431	0	0	0	0	0	0	24.70	24.24	23.34
5700	1.06	146.6	753.8	19.1	498	5705	0.00	2.33	0.00	0.000	6	0.000	0.045	3478	1905	2424	0	0	0	0	0	0	28.83	25.24	28.83
6023	1.06	146.6	692.7	18.5	509	6029	0.00	2.28	0.00	0.000	4	0.000	0.050	3485	513	2420	0	0	0	0	0	0	28.83	25.75	28.83
6145	1.06	146.6	669.8	19.2	513	6151	0.00	2.25	0.00	0.000	6	0.000	0.046	3478	1907	2419	0	0	0	0	0	0	28.83	25.86	28.83
6474	1.06	146.6	606.4	19.3	524	6480	0.00	2.28	0.00	0.000	4	0.000	0.050	3485	508	2418	0	0	0	0	0	0	28.83	26.06	28.83
6586	1.06	146.6	584.4	20.3	531	6595	0.00	2.22	0.00	0.000	6	0.000	0.046	3478	1906	2418	0	0	0	0	0	0	28.83	26.13	28.83
6895	1.06	146.6	525.1	18.9	562	6899	0.00	2.25	0.00	0.000	4	0.000	0.050	3485	518	2418	0	0	0	0	0	0	28.83	26.22	28.83
6997	1.06	146.6	505.6	19.8	572	7006	0.00	2.20	0.00	0.000	6	0.000	0.046	3478	1901	2418	0	0	0	0	0	0	28.83	26.27	28.83
7307	1.06	146.6	446.2	18.5	603	7316	0.00	2.17	0.00	0.000	4	0.000	0.050	3486	516	2417	0	0	0	0	0	0	28.83	26.33	28.83
7439	1.06	146.6	420.9	19.4	616	7448	0.00	2.20	0.00	0.000	6	0.000	0.045	3485	1902	2417	0	0	0	0	0	0	28.83	26.37	28.83
7749	1.06	146.6	358.4	20.8	647	7758	0.00	2.22	0.00	0.000	4	0.000	0.050	3493	514	2417	0	0	0	0	0	0	28.83	26.41	28.83
7822	1.06	146.6	343.2	21.3	654	7826	0.00	2.17	0.00	0.000	6	0.000	0.045	3492	1904	2417	0	0	0	0	0	0	28.83	26.44	28.83
8134	1.06	146.6	278.0	20.7	685	8143	0.00	2.20	0.00	0.000	4	0.000	0.050	3500	513	2417	0	0	0	0	0	0	28.83	26.46	28.83
8281	1.06	146.6	248.2	21.1	699	8288	0.00	2.20	0.00	0.000	6	0.000	0.044	3492	1908	2417	0	0	0	0	0	0	28.83	26.49	28.83
8587	1.06	146.6	187.3	18.8	730	8595	0.00	2.17	0.00	0.000	4	0.000	0.050	3499	520	2417	0	0	0	0	0	0	28.83	26.51	28.83
8662	1.06	146.6	173.6	19.4	737	8669	0.00	2.17	0.00	0.000	6	0.000	0.044	3492	1902	2417	0	0	0	0	0	0	28.83	26.53	28.83
8968	1.06	146.6	117.8	16.8	768	8977	0.00	2.20	0.00	0.000	4	0.000	0.049	3500	504	2417	0	0	0	0	0	0	28.83	26.54	28.83
9033	1.06	146.6	107.6	16.7	774	9040	0.00	2.20	0.00	0.000	6	0.000	0.044	3497	1904	2417	0	0	0	0	0	0	28.83	26.56	28.83
9341	1.06	146.6	60.1	14.3	831	9348	0.00	2.17	0.00	0.000	4	0.000	0.056	3497	3314	2417	0	0	0	0	0	0	28.83	26.56	28.83
9385	1.06	146.6	53.2	15.5	839	9393	0.12	2.10	0.00	0.000	6	0.211	0.043	3477	1916	2417	0	0	0	0	0	0	26.42	26.58	28.83
9700	1.06	146.6	13.4	9.7	900	9707	0.00	2.22	0.00	0.000	4	0.000	0.050	3486	492	2417	0	0	0	0	0	0	28.83	26.59	28.83
9805	end climb: SURFACE_DEPTH_REACHED
state	9805	begin surface coast
9853	end surface coast: CONTROL_FINISHED_OK
state	9853	begin surface